observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 16
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 1
value | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 104 | frame_index int64 0 3.11k | episode_index int64 0 99 | index int64 0 276k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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34.42176818847656,
0.25795355439186096,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0
] | pick green block | move | 0.809992 | [
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] | [
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] | 0 | [
0,
0,
0
] | 43.866665 | 1,316 | 96 | 266,100 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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0
] | [
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-0.2084178328514099,
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0
] | pick green block | move | 0.809792 | [
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] | [
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] | 0 | [
0,
0,
0
] | 43.900002 | 1,317 | 96 | 266,101 | 0 | |||
[
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] | [
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0
] | [
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] | 0 | [
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] | [
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0
] | pick green block | move | 0.809523 | [
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] | [
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] | 0 | [
0,
0,
0
] | 43.933334 | 1,318 | 96 | 266,102 | 0 | |||
[
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0
] | [
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0
] | [
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2.9679739475250244,
1.2232893705368042,
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] | 0 | [
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0
] | [
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-0.22034350037574768,
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-0.02147573232650757,
0
] | pick green block | move | 0.821685 | [
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34.33456039428711,
0.6406537294387817,
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0
] | [
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] | 0 | [
0,
0,
0
] | 43.966667 | 1,319 | 96 | 266,103 | 0 | |||
[
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0
] | [
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0
] | [
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] | 0 | [
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0
] | [
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0.4439999759197235,
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-0.02147573232650757,
0
] | pick green block | move | 0.844646 | [
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-13.846267700195312,
34.33456039428711,
0.6406537294387817,
-0.6593406796455383,
0
] | [
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] | 0 | [
0,
0,
0
] | 44 | 1,320 | 96 | 266,104 | 0 | |||
[
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35.14739227294922,
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0
] | [
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0
] | [
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2.951899290084839,
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] | 0 | [
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0
] | [
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-0.2326289713382721,
0.4453832805156708,
-0.06441976875066757,
-0.02147573232650757,
0
] | pick green block | move | 0.867673 | [
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34.33456039428711,
0.6406537294387817,
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0
] | [
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] | 0 | [
0,
0,
0
] | 44.033333 | 1,321 | 96 | 266,105 | 0 | |||
[
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0
] | [
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0
] | [
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2.937462091445923,
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] | 0 | [
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0
] | [
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-0.23902884125709534,
0.4845898151397705,
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-0.02147573232650757,
0
] | pick green block | move | 0.894682 | [
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0.6406537294387817,
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0
] | [
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] | 0 | [
0,
0,
0
] | 44.066666 | 1,322 | 96 | 266,106 | 0 | |||
[
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0
] | [
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0
] | [
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] | 0 | [
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0
] | [
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0.48603498935699463,
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-0.02147573232650757,
0
] | pick green block | move | 0.917179 | [
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-13.846267700195312,
34.33456039428711,
0.6406537294387817,
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0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.099998 | 1,323 | 96 | 266,107 | 0 | |||
[
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0
] | [
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0
] | [
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] | 0 | [
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0
] | [
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0.48650240898132324,
-0.06373567134141922,
-0.02147573232650757,
0
] | pick green block | move | 0.931254 | [
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0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.133335 | 1,324 | 96 | 266,108 | 0 | |||
[
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0
] | [
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0
] | [
0.2820659875869751,
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2.9103307723999023,
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] | 0 | [
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0
] | [
-0.6601307988166809,
-0.24757711589336395,
0.48650240898132324,
-0.06373567134141922,
-0.02147573232650757,
0
] | pick green block | move | 0.939624 | [
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34.33456039428711,
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0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.166668 | 1,325 | 96 | 266,109 | 0 | |||
[
-47.16157150268555,
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35.05669021606445,
0.5159071087837219,
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0
] | [
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34.07258605957031,
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0
] | [
0.2819410562515259,
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] | 0 | [
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0.503145694732666,
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0
] | [
-0.6601307988166809,
-0.24757711589336395,
0.48650240898132324,
-0.06373567134141922,
-0.02147573232650757,
0
] | pick green block | move | 0.945493 | [
-47.526023864746094,
-13.846267700195312,
34.33456039428711,
0.6406537294387817,
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0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.200001 | 1,326 | 96 | 266,110 | 0 | |||
[
-47.16157150268555,
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35.05669021606445,
0.5159071087837219,
-0.41514042019844055,
0
] | [
-47.526023864746094,
-15.414680480957031,
34.07258605957031,
0.6406537294387817,
-0.6593406796455383,
0
] | [
0.28181150555610657,
0.18671739101409912,
0.15273462235927582,
2.9017627239227295,
1.3132363557815552,
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] | 0 | [
-0.6550098061561584,
-0.1871456652879715,
0.503145694732666,
-0.06596117466688156,
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0
] | [
-0.6601307988166809,
-0.24757711589336395,
0.48650240898132324,
-0.06373567134141922,
-0.02147573232650757,
0
] | pick green block | move | 0.951249 | [
-47.526023864746094,
-13.846267700195312,
34.33456039428711,
0.6406537294387817,
-0.6593406796455383,
0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.233334 | 1,327 | 96 | 266,111 | 0 | |||
[
-47.16157150268555,
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35.05669021606445,
0.5159071087837219,
-0.41514042019844055,
0
] | [
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-15.414680480957031,
34.07258605957031,
0.6406537294387817,
-0.6593406796455383,
0
] | [
0.2817673087120056,
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2.900277853012085,
1.314723253250122,
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] | 0 | [
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-0.18867963552474976,
0.503145694732666,
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0
] | [
-0.6601307988166809,
-0.24757711589336395,
0.48650240898132324,
-0.06373567134141922,
-0.02147573232650757,
0
] | pick green block | move | 0.953135 | [
-47.526023864746094,
-13.846267700195312,
34.33456039428711,
0.6406537294387817,
-0.6593406796455383,
0
] | [
0.28040456771850586,
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] | 0 | [
0,
0,
0
] | 44.266666 | 1,328 | 96 | 266,112 | 0 | |||
[
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35.05669021606445,
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0
] | [
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0
] | [
0.2817225754261017,
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] | 0 | [
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0
] | [
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0.49883148074150085,
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0
] | place green block | move | 0.252002 | [
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-0.41514042019844055,
0
] | [
0.28164178133010864,
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] | 0 | [
0,
0,
0
] | 44.299999 | 1,329 | 96 | 266,113 | 0 | |||
[
-47.16157150268555,
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35.05669021606445,
0.5159071087837219,
-0.41514042019844055,
0
] | [
-47.16157150268555,
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0
] | [
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] | place green block | move | 0.252002 | [
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] | 44.366665 | 1,331 | 96 | 266,115 | 0 | |||
[
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[
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[
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[
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] | 44.5 | 1,335 | 96 | 266,119 | 0 | |||
[
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] | place green block | move | 0.159633 | [
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] | 44.533333 | 1,336 | 96 | 266,120 | 0 | |||
[
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] | 44.566666 | 1,337 | 96 | 266,121 | 0 | |||
[
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[
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] | 44.633335 | 1,339 | 96 | 266,123 | 0 | |||
[
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] | 44.666668 | 1,340 | 96 | 266,124 | 0 | |||
[
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] | 44.700001 | 1,341 | 96 | 266,125 | 0 | |||
[
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] | 44.733334 | 1,342 | 96 | 266,126 | 0 | |||
[
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] | 44.766666 | 1,343 | 96 | 266,127 | 0 | |||
[
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] | 44.799999 | 1,344 | 96 | 266,128 | 0 | |||
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] | place green block | move | 0.159633 | [
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] | 44.833332 | 1,345 | 96 | 266,129 | 0 | |||
[
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 44.866665 | 1,346 | 96 | 266,130 | 0 | |||
[
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 44.900002 | 1,347 | 96 | 266,131 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 44.933334 | 1,348 | 96 | 266,132 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 44.966667 | 1,349 | 96 | 266,133 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 45 | 1,350 | 96 | 266,134 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 45.033333 | 1,351 | 96 | 266,135 | 0 | |||
[
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 45.066666 | 1,352 | 96 | 266,136 | 0 | |||
[
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 45.099998 | 1,353 | 96 | 266,137 | 0 | |||
[
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] | [
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] | place green block | move | 0.159633 | [
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] | [
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] | 45.133335 | 1,354 | 96 | 266,138 | 0 | |||
[
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.166668 | 1,355 | 96 | 266,139 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.200001 | 1,356 | 96 | 266,140 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.233334 | 1,357 | 96 | 266,141 | 0 | |||
[
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.266666 | 1,358 | 96 | 266,142 | 0 | |||
[
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] | [
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] | place green block | move | 0.163449 | [
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] | 45.299999 | 1,359 | 96 | 266,143 | 0 | |||
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.333332 | 1,360 | 96 | 266,144 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.366665 | 1,361 | 96 | 266,145 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.400002 | 1,362 | 96 | 266,146 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.433334 | 1,363 | 96 | 266,147 | 0 | |||
[
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.466667 | 1,364 | 96 | 266,148 | 0 | |||
[
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] | place green block | move | 0.163449 | [
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] | 45.5 | 1,365 | 96 | 266,149 | 0 | |||
[
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] | [
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] | place green block | move | 0.163449 | [
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] | [
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] | 45.533333 | 1,366 | 96 | 266,150 | 0 | |||
[
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] | 45.566666 | 1,367 | 96 | 266,151 | 0 | |||
[
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] | 45.599998 | 1,368 | 96 | 266,152 | 0 | |||
[
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] | 45.633335 | 1,369 | 96 | 266,153 | 0 | |||
[
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] | 45.666668 | 1,370 | 96 | 266,154 | 0 | |||
[
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] | 45.700001 | 1,371 | 96 | 266,155 | 0 | |||
[
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] | [
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] | 45.733334 | 1,372 | 96 | 266,156 | 0 | |||
[
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] | [
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] | 45.766666 | 1,373 | 96 | 266,157 | 0 | |||
[
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[
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[
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[
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[
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] | 46.266666 | 1,388 | 96 | 266,172 | 0 | |||
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] | 46.299999 | 1,389 | 96 | 266,173 | 0 | |||
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] | place green block | move | 0.461284 | [
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] | 46.333332 | 1,390 | 96 | 266,174 | 0 | |||
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] | place green block | move | 0.502695 | [
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] | [
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] | 46.366665 | 1,391 | 96 | 266,175 | 0 | |||
[
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] | place green block | move | 0.527193 | [
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] | [
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] | 46.400002 | 1,392 | 96 | 266,176 | 0 | |||
[
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] | place green block | move | 0.534079 | [
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] | [
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] | 46.433334 | 1,393 | 96 | 266,177 | 0 | |||
[
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] | place green block | move | 0.537393 | [
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] | [
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] | 46.466667 | 1,394 | 96 | 266,178 | 0 | |||
[
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] | place green block | move | 0.537393 | [
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] | [
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] | 46.5 | 1,395 | 96 | 266,179 | 0 | |||
[
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] | place green block | move | 0.537393 | [
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] | [
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] | 46.533333 | 1,396 | 96 | 266,180 | 0 | |||
[
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] | place green block | move | 0.537393 | [
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] | [
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] | 46.566666 | 1,397 | 96 | 266,181 | 0 | |||
[
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] | place green block | move | 0.543752 | [
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] | [
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] | 46.599998 | 1,398 | 96 | 266,182 | 0 | |||
[
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] | [
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] | 46.633335 | 1,399 | 96 | 266,183 | 0 | |||
[
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] | place green block | move | 0.543752 | [
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] | [
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] | 46.666668 | 1,400 | 96 | 266,184 | 0 | |||
[
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] | place green block | move | 0.543752 | [
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] | [
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] | 46.700001 | 1,401 | 96 | 266,185 | 0 | |||
[
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] | [
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] | 46.733334 | 1,402 | 96 | 266,186 | 0 | |||
[
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] | [
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0
] | place green block | move | 0.548932 | [
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] | [
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] | 0 | [
0,
0,
0
] | 46.766666 | 1,403 | 96 | 266,187 | 0 | |||
[
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0
] | [
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] | [
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] | [
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0
] | place green block | move | 0.548932 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
0,
0,
0
] | 46.799999 | 1,404 | 96 | 266,188 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
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0,
0
] | 46.833332 | 1,405 | 96 | 266,189 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
0,
0,
0
] | 46.866665 | 1,406 | 96 | 266,190 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
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-17.48160743713379,
28.495285034179688,
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] | [
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] | 0 | [
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0,
0
] | 46.900002 | 1,407 | 96 | 266,191 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
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28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
0,
0,
0
] | 46.933334 | 1,408 | 96 | 266,192 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
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28.495285034179688,
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] | [
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] | 0 | [
0,
0,
0
] | 46.966667 | 1,409 | 96 | 266,193 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.554042 | [
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28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
0,
0,
0
] | 47 | 1,410 | 96 | 266,194 | 0 | |||
[
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32.06349182128906,
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0
] | [
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26.40285301208496,
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0
] | [
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0.17956113815307617,
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] | 0 | [
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0.452524334192276,
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0
] | [
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
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] | [
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] | 0 | [
0,
0,
0
] | 47.033333 | 1,411 | 96 | 266,195 | 0 | |||
[
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32.06349182128906,
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0
] | [
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26.347414016723633,
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0
] | [
0.2832983732223511,
0.187859445810318,
0.17956113815307617,
2.7392873764038086,
1.4123330116271973,
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] | 0 | [
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0.452524334192276,
-0.07976700365543365,
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0
] | [
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-0.3077012598514557,
0.35585322976112366,
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0
] | place green block | move | 0.554042 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
-0.41514042019844055,
0
] | [
0.28164178133010864,
0.18658699095249176,
0.21857468783855438,
1.341018557548523,
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] | 0 | [
0,
0,
0
] | 47.066666 | 1,412 | 96 | 266,196 | 0 | |||
[
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32.06349182128906,
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0
] | [
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26.290321350097656,
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0
] | [
0.2832983732223511,
0.187859445810318,
0.17956113815307617,
2.7392873764038086,
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] | 0 | [
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-0.22702915966510773,
0.452524334192276,
-0.07976700365543365,
-0.013805827125906944,
0
] | [
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-0.3085165023803711,
0.3548876643180847,
-0.11866983026266098,
-0.013805827125906944,
0
] | place green block | move | 0.554042 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
-0.41514042019844055,
0
] | [
0.28164178133010864,
0.18658699095249176,
0.21857468783855438,
1.341018557548523,
1.506626844406128,
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] | 0 | [
0,
0,
0
] | 47.099998 | 1,413 | 96 | 266,197 | 0 | |||
[
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32.06349182128906,
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0
] | [
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-18.80827522277832,
26.232450485229492,
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-0.41514042019844055,
0
] | [
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0.18788543343544006,
0.1797810196876526,
2.7354061603546143,
1.413740634918213,
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] | 0 | [
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0.452524334192276,
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0
] | [
-0.6550101637840271,
-0.3093428611755371,
0.3539089560508728,
-0.11915576457977295,
-0.013805827125906944,
0
] | place green block | move | 0.557155 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
-0.41514042019844055,
0
] | [
0.28164178133010864,
0.18658699095249176,
0.21857468783855438,
1.341018557548523,
1.506626844406128,
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] | 0 | [
0,
0,
0
] | 47.133335 | 1,414 | 96 | 266,198 | 0 | |||
[
-47.16157150268555,
-14.285714149475098,
32.06349182128906,
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0
] | [
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26.17475700378418,
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0
] | [
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0.18000096082687378,
2.7314555644989014,
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] | 0 | [
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-0.22702915966510773,
0.452524334192276,
-0.08283495903015137,
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0
] | [
-0.6550101637840271,
-0.3101666271686554,
0.35293322801589966,
-0.11964020133018494,
-0.013805827125906944,
0
] | place green block | move | 0.560173 | [
-47.161598205566406,
-17.48160743713379,
28.495285034179688,
-2.6015243530273438,
-0.41514042019844055,
0
] | [
0.28164178133010864,
0.18658699095249176,
0.21857468783855438,
1.341018557548523,
1.506626844406128,
1.9964951276779175
] | 0 | [
0,
0,
0
] | 47.166668 | 1,415 | 96 | 266,199 | 0 |
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